API Types

Collaboration diagram for API Types:

Data Structures
struct	smoco_can_connect_t
	Structure for specifying the details for connecting to the smocand daemon's CAN communication ports. More...
struct	SMOCO_Command
	Detailed information about a SMOCO command. More...
struct	SMOCO_Response
	Structure containing the details of a message received from the SMOCO hardware. More...
union	SMOCO_ParameterValue
	A union for convenient access to the component bytes of a 32-bit SMOCO parameter. More...
union	SMOCO_Parameters
	A union type for specifying parameters to SMOCO commands. More...
struct	SMOCO_CmdSpec
	Fully specified command to SMOCO, comprising the command, node and actuator identifiers. More...

Macros
#define	SMOCO_ADDR_VMAX_I   0x1028
#define	SMOCO_ADDR_VMAX_J   0x2028
#define	SMOCO_ADDR_VMAX_K   0x3028
#define	ALL_SMOCO_NODES   -2
	SMOCO_NodeID value representing all accessible SMOCO nodes. More...
#define	NODE_NONE   -1
	SMOCO_NodeID value representing an initialization value or a result that does not refer to a specific node. Not for use with commands. More...
#define	SMOCO_NODES   256
#define	SMOCO_ACTUATORS_PER_NODE   3

Typedefs
typedef void *	SMOCO_CTX
	"SMOCO Context" opaque resource handle. More...
typedef int	SMOCO_NodeID
	Identifier of a SMOCO Node (motor controller), controlling up to three actuators (motors). More...
typedef struct smoco_can_connect_t	smoco_can_connect_t
	Structure for specifying the details for connecting to the smocand daemon's CAN communication ports. More...
typedef struct SMOCO_Response	SMOCO_Response
	Structure containing the details of a message received from the SMOCO hardware. More...
typedef void(*	SMOCO_HANDLER )(SMOCO_CTX ctx, const SMOCO_Response *p_resp)
	General handler for received messages from SMOCO hardware. More...
typedef union SMOCO_ParameterValue	SMOCO_ParameterValue
	A union for convenient access to the component bytes of a 32-bit SMOCO parameter. More...
typedef union SMOCO_Parameters	SMOCO_Parameters
	A union type for specifying parameters to SMOCO commands. More...
typedef struct SMOCO_CmdSpec	SMOCO_CmdSpec
	Fully specified command to SMOCO, comprising the command, node and actuator identifiers. More...

Enumerations
enum	SMOCO_ActuatorID {   ACT_NONE = -1, ACT_ALL = -2, ACT_I = 0, ACT_0 = 0,   ACT_J = 1, ACT_1 = 1, ACT_K = 2, ACT_2 = 2 }
	Actuator identifiers. More...
enum	SMOCO_CommandID {   ESTOP = 0, SETABS = 1, SETRELUP = 2, SETRELDN = 3,   ACTMOVE = 13, ACTINIT = 8, ACTUNINIT = 9, GETACTSTAT = 7,   GETCTLTEMP = 21, SETVMXMOVE = 4, SETVMXHOME = 5, ACTMOVELL = 15,   ACTMOVEUL = 16, ACTHOME = 14, RESETNODE = 17, POSOVW = 6,   POWERON = 10, POWEROFF = 11, LSACTREGS = 12, DIRECTCMD = 18,   WRITEDATA = 19, READDATA = 20, READACTSW = 22, REQERR = 23,   READDATAPG = 24, MCOVERTEMP = 25, CMD_NONE = -1 }
	API command identifiers. More...
enum	SMOCO_ResponseID {   SMOCO_RSP_OK = 0, SMOCO_RSP_STARTED = 0x1, SMOCO_RSP_NOTMOVING = 0x4, SMOCO_RSP_LLIMSTART = 0x6,   SMOCO_RSP_ULIMSTART = 0x7, SMOCO_RSP_EMERGENCY = 0x8, SMOCO_RSP_UNEXP_LIM_FL = 0x9, SMOCO_RSP_BOTHLIM = 0xA,   SMOCO_RSP_LLIMERR_INIT = 0xB, SMOCO_RSP_LLIMERR_FL = 0xC, SMOCO_RSP_ULIMERR_FL = 0xD, SMOCO_RSP_NOLIM = 0xE,   SMOCO_RSP_ACTDISAB = 0x1D, SMOCO_RSP_ACTMOVING = 0x1E, SMOCO_RSP_RANGE = 0x1F, SMOCO_RSP_LLIM = 0x20,   SMOCO_RSP_ULIM = 0x21, SMOCO_RSP_NONE = 0xFF, SMOCO_RSP_TIMEOUT = 0xFD, SMOCO_RSP_NOSTART = 0xFC,   SMOCO_RSP_MULTIPLE = 0xFB, SMOCO_RSP_ERR_UNKNOWN = 0xFE, SMOCO_RSP_ABORT = 0xFA }
	Response codes from SMOCO hardware. More...
enum	SMOCO_UIlevel { SMOCO_UI_PUBLIC = 0, SMOCO_UI_ADMIN = 1, SMOCO_UI_FULL = 2 }
	Operational level at which a command should be made visible to users in a client application's user interface. More...
enum	SMOCO_Status_Flags {   STF_MSK_MV = 7, STF_VAL_STANDING = 0, STF_VAL_HOMING = 1, STF_VAL_MOVING = 3,   STF_VAL_LLMOVE = 5, STF_VAL_ULMOVE = 7, STF_MSK_ESTOP_ACTIVE = 8, STF_MSK_ESTOP_REQ = 16,   STF_MSK_POWERON = 64, STF_MSK_ENABLED = 128 }
	Flag values for decoding bit-packed status information from SMOCO. More...
enum	SMOCO_STATUS {   SMOCO_ST_SUCCESS = 0, SMOCO_ST_BADCTX = 1, SMOCO_ST_BADHOST = 2, SMOCO_ST_CONNERR = 3,   SMOCO_ST_BADCONN = 4, SMOCO_ST_THREADERR = 5, SMOCO_ST_BADRESPONSE = 6, SMOCO_ST_INFORESPONSE = 7,   SMOCO_ST_BUSY = 8, SMOCO_ST_BADNODE = 9, SMOCO_ST_BADHANDSHAKE = 10, SMOCO_ST_TIMEOUT = 11,   SMOCO_ST_BADCMDPREP = 12, SMOCO_ST_BADCOMMAND = 13, SMOCO_ST_BADPARAM = 99, SMOCO_ST_EXIT = -1 }
	Status return for public functions. More...
enum	SMOCO_TXEventID_t {   SMOCO_TXEVT_START = 1, SMOCO_TXEVT_RESPONSE = 2, SMOCO_TXEVT_TIMEOUT = 3, SMOCO_TXEVT_EXIT = 4,   SMOCO_TXEVT_NOSTART = 5, SMOCO_TXEVT_TIMER_TICK = 6, SMOCO_TXEVT_DONE = 7 }
	Types of asynchronous "event" notifications resulting from a command sent to SMOCO. More...
enum	Actuator_Limit_Flags { LMF_ULIM = 1, LMF_LLIM = 2 }
	Flags for limit switch status of a single actuator. More...

Detailed Description

Macro Definition Documentation

#define ALL_SMOCO_NODES   -2

SMOCO_NodeID value representing all accessible SMOCO nodes.

#define NODE_NONE   -1

SMOCO_NodeID value representing an initialization value or a result that does not refer to a specific node. Not for use with commands.

#define SMOCO_ACTUATORS_PER_NODE   3

Maximum number of actuators supported by a SMOCO node.

#define SMOCO_ADDR_VMAX_I   0x1028

Address of velocity setting value for actuator I in SMOCO memory. Used for sending a READDATA command to fetch this value from SMOCO controller.

#define SMOCO_ADDR_VMAX_J   0x2028

Address of velocity setting value for actuator J in SMOCO memory. Used for sending a READDATA command to fetch this value from SMOCO controller.

#define SMOCO_ADDR_VMAX_K   0x3028

Address of velocity setting value for actuator K in SMOCO memory. Used for sending a READDATA command to fetch this value from SMOCO controller.

#define SMOCO_NODES   256

Maximum number of SMOCO nodes supported by the hardware.

Typedef Documentation

typedef struct smoco_can_connect_t smoco_can_connect_t

Structure for specifying the details for connecting to the smocand daemon's CAN communication ports.

Use with smoco_set_conn_spec(). The smocand daemon has 3 TCP ports provided for communication and control: Transmit, Receive and Control. These are numbered sequentially starting from the base_port value in this structure. See SMOCAND_CANCOMM_PORT_DFLT_BASE in smocand_protocol.h

typedef struct SMOCO_CmdSpec SMOCO_CmdSpec

Fully specified command to SMOCO, comprising the command, node and actuator identifiers.

typedef void* SMOCO_CTX

"SMOCO Context" opaque resource handle.

Allocated by smoco_init(), and used for all other public interface functions.

typedef void(* SMOCO_HANDLER)(SMOCO_CTX ctx, const SMOCO_Response *p_resp)

General handler for received messages from SMOCO hardware.

A callback of this type is supplied to smoco_register_handler_universal() or smoco_register_handler_commandresponse(). The registered handler is then called for every corresponding message received.

typedef int SMOCO_NodeID

Identifier of a SMOCO Node (motor controller), controlling up to three actuators (motors).

ALL_SMOCO_NODES is used for commands that are to be broadcast to all accessible nodes in a SMOCO system. NODE_NONE is reserved for API communications that do not refer to a particular node, or as an initialization value.

typedef union SMOCO_Parameters SMOCO_Parameters

A union type for specifying parameters to SMOCO commands.

SMOCO commands generally accept two 32-bit values for parameters, which can be supplies in the values[2] array.

typedef union SMOCO_ParameterValue SMOCO_ParameterValue

A union for convenient access to the component bytes of a 32-bit SMOCO parameter.

typedef struct SMOCO_Response SMOCO_Response

Structure containing the details of a message received from the SMOCO hardware.

Provided to handlers and transaction event callbacks.

Enumeration Type Documentation

enum Actuator_Limit_Flags

Flags for limit switch status of a single actuator.

Enumerator
LMF_ULIM
LMF_LLIM

enum SMOCO_ActuatorID

Actuator identifiers.

Enumerator
ACT_NONE	Placeholder value for commands that are not specific to a particular actuator, eg. RESETNODE, GETCTLTEMP, etc.
ACT_ALL	Indicates command should be broadcast to all actuators on given node(s).
ACT_I	Actuator 'I' (first actuator on node).
ACT_0	Actuator 'I' (first actuator on node).
ACT_J	Actuator 'J' (second actuator on node).
ACT_1	Actuator 'J' (second actuator on node).
ACT_K	Actuator 'K' (third actuator on node).
ACT_2	Actuator 'K' (third actuator on node).

enum SMOCO_CommandID

API command identifiers.

The command identifiers in this enumeration are for libsmoco API use only. They are distinct from the numeric IDs used in the SMOCO hardware communication protocol. smoco_command_find_by_hwid() can be used to obtain a SMOCO_CommandID from a SMOCO hardware identifier.

Enumerator
ESTOP	Emergency stop
SETABS	Set absolute target position
SETRELUP	Set positive relative movement
SETRELDN	Set negative relative movement
ACTMOVE	Move to previously set target
ACTINIT	Set status to "initialized"
ACTUNINIT	Set status to "uninitialized"
GETACTSTAT	Get axis status
GETCTLTEMP	Get controller temperature
SETVMXMOVE	Set maximum speed for normal motion
SETVMXHOME	Set maximum speed for homing motion
ACTMOVELL	Move to lower limit
ACTMOVEUL	Move to upper limit
ACTHOME	Perform a homing movement on actuator
RESETNODE	Reset motor controller
POSOVW	Overwrite current position with value
POWERON	Set motor power on
POWEROFF	Set motor power off
LSACTREGS	List controller axis registers
DIRECTCMD	Send direct command to motor controller
WRITEDATA	Write 32-bit data to controller EEPROM
READDATA	Read 32-bit data from controller EEPROM
READACTSW	Read all actuator status switches
REQERR
READDATAPG	Read data page from controller EEPROM
MCOVERTEMP	Motor controller over-temperature alert. This identifier isn't actually a "command" (it is not sent to SMOCO) but it is used like a command ID in the SMOCO firmware, so we may receive spontaneous "responses" with this value
CMD_NONE	Initialization value, since 0 is in use for ESTOP command. Note that there is no corresponding detail entry in the SMOCO_Commands[] table!

enum SMOCO_ResponseID

Response codes from SMOCO hardware.

Enumerator
SMOCO_RSP_OK	Success, no error.
SMOCO_RSP_STARTED	Successful start of movement, motor is in motion.
SMOCO_RSP_NOTMOVING	Non-significant error, no motion at request to stop.
SMOCO_RSP_LLIMSTART	Motor at lower limit at request for downward motion.
SMOCO_RSP_ULIMSTART	Motor at upper limit at request for upward motion.
SMOCO_RSP_EMERGENCY	Motion ended at request for emergency stop.
SMOCO_RSP_UNEXP_LIM_FL	Limit active at command for limit search
SMOCO_RSP_BOTHLIM	Hardware error: both limits active simultaneously
SMOCO_RSP_LLIMERR_INIT	Lower limit remains active during homing operation; possible hardware fault
SMOCO_RSP_LLIMERR_FL	Lower limit remains active during lower limit search; possible hardware fault
SMOCO_RSP_ULIMERR_FL	Upper limit remains active during upper limit search; possible hardware fault
SMOCO_RSP_NOLIM	Limit not found
SMOCO_RSP_ACTDISAB	Actuator is not enabled
SMOCO_RSP_ACTMOVING	Motor is moving; command is ignored
SMOCO_RSP_RANGE	Command for movement out of allowed range, ignored.
SMOCO_RSP_LLIM	Reached lower limit; motion stopped.
SMOCO_RSP_ULIM	Reached upper limit; motion stopped.
SMOCO_RSP_NONE	Initialization value for response ID fields (0x0 is taken, above)
SMOCO_RSP_TIMEOUT	Indicator that response was not received from SMOCO
SMOCO_RSP_NOSTART	Indication of missed prerequisite or preemptive error, SMOCO command not sent
SMOCO_RSP_MULTIPLE	Multiple responses, potential result of a command send to multiple targets if responses do not match
SMOCO_RSP_ERR_UNKNOWN	Unknown error
SMOCO_RSP_ABORT	Operation aborted (eg. shutdown)

enum SMOCO_STATUS

Status return for public functions.

Enumerator
SMOCO_ST_SUCCESS	Successful operation
SMOCO_ST_BADCTX	Bad context (resource handle) supplied
SMOCO_ST_BADHOST	Bad hostname, or host not found
SMOCO_ST_CONNERR	Error during attempt to connect
SMOCO_ST_BADCONN	Socket invalid or not connected
SMOCO_ST_THREADERR	Error creating thread
SMOCO_ST_BADRESPONSE	Invalid response data, corrupt response
SMOCO_ST_INFORESPONSE	Response data contains informational message from CAN interface. Not relevant to system operation
SMOCO_ST_BUSY	Operation attemped on node(s) and/or actuator(s) already processing a previous operation. Ignored.
SMOCO_ST_BADNODE	Specified node not configured or connected
SMOCO_ST_BADHANDSHAKE	Did not receive expected handshake response
SMOCO_ST_TIMEOUT	Operation timed out
SMOCO_ST_BADCMDPREP	Error preparing command to send to SMOCO
SMOCO_ST_BADCOMMAND	Invalid SMOCO command ID
SMOCO_ST_BADPARAM	General parameter error in API call
SMOCO_ST_EXIT	Operation aborted due to application exit

enum SMOCO_Status_Flags

Flag values for decoding bit-packed status information from SMOCO.

STF_VAL_* values are to be compared with the status field ANDed with STF_MSK_MV. The other STF_MSK_* masks provide bitwise access to individual bit flags, such as the enabled status of an actuator.

Enumerator
STF_MSK_MV	Movement status value mask, LS 3 bits
STF_VAL_STANDING	Movement status value: Actuator is not in motion
STF_VAL_HOMING	Movement status value: Actuator is performing homing operation
STF_VAL_MOVING	Movement status value: Actuator is performing normal travel operation
STF_VAL_LLMOVE	Movement status value: Actuator is performing a lower limit search operation
STF_VAL_ULMOVE	Movement status value: Actuator is performing an upper limit search operation
STF_MSK_ESTOP_ACTIVE	Movement status flag mask: Indicates an emergency stop request is in progress; also check movement flags to determine if actuator still in motion
STF_MSK_ESTOP_REQ	Movement status flag mask: Emergency stop has been requested
STF_MSK_POWERON	Movement status flag mask: Actuator power forced ON
STF_MSK_ENABLED	Movement status flag mask: Actuator enabled

enum SMOCO_TXEventID_t

Types of asynchronous "event" notifications resulting from a command sent to SMOCO.

Enumerator
SMOCO_TXEVT_START	Event to indicate command has been sent successfully
SMOCO_TXEVT_RESPONSE	Normal response from SMOCO received, details in resp structure
SMOCO_TXEVT_TIMEOUT	Transaction timed out
SMOCO_TXEVT_EXIT	Forced/abnormal exit
SMOCO_TXEVT_NOSTART	Operation could not start
SMOCO_TXEVT_TIMER_TICK	Timer tick event generated at regular intervals during operation
SMOCO_TXEVT_DONE	Transaction process is complete, signal to caller that no other events will follow.

enum SMOCO_UIlevel

Operational level at which a command should be made visible to users in a client application's user interface.

Enumerator
SMOCO_UI_PUBLIC
SMOCO_UI_ADMIN
SMOCO_UI_FULL